| 带有干扰观测器的欠驱动船舶路径跟踪非线性模型预测控制 |
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| 引用本文： | 王晓飞,邹早建,李铁山,罗伟林.带有干扰观测器的欠驱动船舶路径跟踪非线性模型预测控制[J].武汉理工大学学报(交通科学与工程版),2009,33(5):1020-1024. |
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| 作者姓名： | 王晓飞 邹早建 李铁山 罗伟林 |
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| 作者单位： | 1. 上海交通大学海洋工程国家重点实验室,上海,200030
2. 上海交通大学海洋工程国家重点实验室,上海200030;上海交通大学船舶海洋与建筑工程学院,上海200240 |
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| 基金项目： | National Natural Science Foundation of China (Grant No.50779033) ;;the National High Technology Research and Development Program(863 Program) of China (Grant No .2007AA11Z250) |
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| 摘 要： | 针对欠驱动船舶提出了一种非线性路径跟踪控制器,使其能够在风、浪、流等环境干扰下驶入预定的航行路径.欠驱动船舶以恒定前进速度航行,并且其合速度与参考轨迹相切.该控制器的设计使用了解析模型预测控制和干扰观测器技术,其中非线性观测器用来估计环境干扰.在最优路径跟踪控制器的作用下,路径跟踪误差渐近收敛到零.数值仿真结果验证了该控制器的有效性.
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| 关 键 词： | 欠驱动船舶 路径跟踪 模型预测控制 干扰观测器 |
Nonlinear Mmodel Predictive Controller with Disturbance Observer for Path Following of Underactuated Ships |
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| Wang Xiaofei,Zou Zaojian,Li Tieshan,Luo Weilin.Nonlinear Mmodel Predictive Controller with Disturbance Observer for Path Following of Underactuated Ships[J].journal of wuhan university of technology(transportation science&engineering),2009,33(5):1020-1024. |
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| Authors: | Wang Xiaofei Zou Zaojian Li Tieshan Luo Weilin |
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| Institution: | School of Naval Architecture;Ocean and Civil Engineering;Shanghai Jiaotong University;Shanghai 200030;State Key Laboratory of Ocean Engineering;Shanghai 200240 |
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| Abstract: | A nonlinear path following controller is presented to force an underactuated ship to follow a reference path with disturbances induced by wind,waves and current. The underactuated ship moves along the reference path at a constant forward speed and its total velocity is tangential to the path. The proposed controller is designed using analytic model predictive control and disturbance observer techniques,where the nonlinear observer is used to estimate the environmental disturbances. The path following errors... |
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| Keywords: | underactuated ship path following model predictive control disturbance observer |
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